FI940245A0 - Combined position and force control method for a robotic manipulator - Google Patents

Combined position and force control method for a robotic manipulator

Info

Publication number
FI940245A0
FI940245A0 FI940245A FI940245A FI940245A0 FI 940245 A0 FI940245 A0 FI 940245A0 FI 940245 A FI940245 A FI 940245A FI 940245 A FI940245 A FI 940245A FI 940245 A0 FI940245 A0 FI 940245A0
Authority
FI
Finland
Prior art keywords
manipulator
delta
chi
settings
macro
Prior art date
Application number
FI940245A
Other languages
Finnish (fi)
Swedish (sv)
Other versions
FI940245A (en
Inventor
Serge Faure
Alain Gaillet
Regis Lefebvre
Claude Reboulet
Original Assignee
Potain Sa
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Potain Sa filed Critical Potain Sa
Publication of FI940245A0 publication Critical patent/FI940245A0/en
Publication of FI940245A publication Critical patent/FI940245A/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0216—Compliance devices comprising a stewart mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1648—Programme controls characterised by the control loop non-linear control combined or not with linear control

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Nonlinear Science (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention relates to the control of robotic manipulators comprising a macro-manipulator combined with a micro-manipulator with load gripper. Control is effected on the basis of force settings (F<d>) and position settings ( chi <d>), which are compared with actual values (F<m>, chi <m>) to produce displacement increments ( DELTA x, DELTA y, DELTA z, DELTA theta x, DELTA theta y, DELTA theta z) intended for the load gripper. When added to values ( chi <m>) representing the current position, these increments give new position settings ( chi <'d>) for the load gripper. These settings are shared out (at 29) between the macro-manipulator and the micro-manipulator, having regard to the deflection ( DELTA @) and the various mobilities permitted to the macro-manipulator. Particular application: robotic manipulator of large size and high capacity for use in an outdoor environment, especially construction sites. <IMAGE>
FI940245A 1993-01-19 1994-01-18 Combined position and force control method for a robotic manipulator FI940245A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9300681A FR2700532B1 (en) 1993-01-19 1993-01-19 Method of hybrid position / force control for manipulator robot.

Publications (2)

Publication Number Publication Date
FI940245A0 true FI940245A0 (en) 1994-01-18
FI940245A FI940245A (en) 1994-07-20

Family

ID=9443313

Family Applications (1)

Application Number Title Priority Date Filing Date
FI940245A FI940245A (en) 1993-01-19 1994-01-18 Combined position and force control method for a robotic manipulator

Country Status (8)

Country Link
US (1) US5469531A (en)
EP (1) EP0608187B1 (en)
JP (1) JPH06278068A (en)
AT (1) ATE151328T1 (en)
DE (1) DE69402444T2 (en)
FI (1) FI940245A (en)
FR (1) FR2700532B1 (en)
NO (1) NO940178L (en)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
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US6016385A (en) * 1997-08-11 2000-01-18 Fanu America Corp Real time remotely controlled robot
US6587802B1 (en) * 1998-09-17 2003-07-01 Dr. Johannes Heidenhain Gmbh Calibration device for a parallel kinematic manipulator
US6243624B1 (en) * 1999-03-19 2001-06-05 Northwestern University Non-Linear muscle-like compliant controller
US6943519B2 (en) 2000-04-11 2005-09-13 Siemens Aktiengesellschaft Method and device for weight compensation in a mechanism with closed kinematic chains
KR20040011737A (en) * 2002-07-30 2004-02-11 정병욱 Truck loader system with robot and method thereof
JP4976084B2 (en) * 2006-09-07 2012-07-18 ニッタ株式会社 Position error absorber
JP2008188722A (en) * 2007-02-06 2008-08-21 Fanuc Ltd Robot controller
JP2009066685A (en) * 2007-09-11 2009-04-02 Sony Corp Robot device, and control method for robot device
US8644964B2 (en) * 2012-05-03 2014-02-04 Deere & Company Method and system for controlling movement of an end effector on a machine
DE102014119654A1 (en) * 2014-12-29 2016-06-30 Brötje-Automation GmbH Method for compensating for a deviation of a working point
DE102015214170A1 (en) 2015-07-27 2017-02-02 Kuka Roboter Gmbh Robot with a force measuring device
CN109715894B (en) 2016-07-15 2021-09-03 快砖知识产权私人有限公司 A jib for material transportation
WO2018009981A1 (en) 2016-07-15 2018-01-18 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
EP3649616A4 (en) 2017-07-05 2021-04-07 Fastbrick IP Pty Ltd Real time position and orientation tracker
US11656357B2 (en) 2017-08-17 2023-05-23 Fastbrick Ip Pty Ltd Laser tracker with improved roll angle measurement
WO2019033166A1 (en) 2017-08-17 2019-02-21 Fastbrick Ip Pty Ltd Communication system for an interaction system
CN111212799B (en) 2017-10-11 2023-04-14 快砖知识产权私人有限公司 Machine for conveying objects and multi-compartment carousel for use therewith
CN110497409A (en) * 2019-08-14 2019-11-26 深圳市烨嘉为技术有限公司 For control integral control system without sensingization Active Compliance Control module
DE102021214721B3 (en) 2021-12-20 2023-05-04 Kuka Deutschland Gmbh Method and system for operating a robot
DE102022000885A1 (en) 2022-03-14 2023-09-14 Torsten Pöhler Manipulator and vehicle with at least one such manipulator

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4621332A (en) * 1983-06-20 1986-11-04 Hitachi, Ltd. Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient
JP2713899B2 (en) * 1987-03-30 1998-02-16 株式会社日立製作所 Robot equipment
EP0331265B1 (en) * 1988-03-01 1995-08-23 Hitachi Construction Machinery Co., Ltd. Position/force controlling apparatus for working machine with multiple of degrees of freedom
US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms
US5047916A (en) * 1988-03-25 1991-09-10 Kabushiki Kaisha Toshiba Method and apparatus of free space enumeration for collision avoidance
US4974210A (en) * 1989-05-01 1990-11-27 General Electric Company Multiple arm robot with force control and inter-arm position accommodation
FR2653761B1 (en) * 1989-10-27 1992-01-10 Potain Sa LARGE AND HIGH CAPACITY MANIPULATOR ROBOT FOR USE IN OPEN ENVIRONMENTS.

Also Published As

Publication number Publication date
JPH06278068A (en) 1994-10-04
EP0608187B1 (en) 1997-04-09
DE69402444T2 (en) 1997-11-13
ATE151328T1 (en) 1997-04-15
EP0608187A1 (en) 1994-07-27
FR2700532B1 (en) 1995-03-03
US5469531A (en) 1995-11-21
FI940245A (en) 1994-07-20
NO940178L (en) 1994-07-20
FR2700532A1 (en) 1994-07-22
NO940178D0 (en) 1994-01-18
DE69402444D1 (en) 1997-05-15

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